Posts by umut.yildiz

Anyone knows? They didnt answer

Hi,

I don't know why are they wanting this.Probably they think that it's easier to make make changes in the program.

I wrote e-mail to distributor of sprutcam, waiting answers.

Hello,

In one of our projects, distribute the gradual polishing application on the profile of a rim by making CAM to the robot. There was an expansion of a CAM related to this project, I found the Sprutcam program during a search on the internet and I'm using it right now.

On the robot side, components with Kuka and the KUKA.CNC option will be loaded. Our customer also wants to write the robot's program with NC codes. I made an application in Sprutcam, but it gives output in KUKA's language (.src), KRL. Can I convert this to NC codes? Is such a thing possible?

The one who has the CNC posts in the library in the post processor section writes some NC codes, but it seems not compatible with the robot. When I run it with the written NC codes, the robot does not read the program.

The robot can be written with G code (DIN 66025) with the KUKA.CNC option.

In summary;
I want the program I drew with the red area to work in harmony with NC. Can I do it with Sprutcam?

or can ı translete .src code to g-codes?

or should ı use another software?

317011 90Derece Kesit.mp4

Quote from ROBOT_G

Is your goal to pick this part in the same place everytime?

Yes, but we have 60 parts.Each part has a specific distance from center of sphere.I made a program as your said (with vr offset) and it's working accurately.

But what ı tried to do is giving offset directly from camera ,not in tp program. I thought with this way Robot will go to direct coordinate by using found position method but ıt didnt work for rotations.

You can see my current program below.

 1:  PAYLOAD[1:ASIK_MILI_TOOL] ;
   2:  UTOOL_NUM=1 ;
   3:  UFRAME_NUM=1 ;
   4:  OVERRIDE=20% ;
   5:J PR[1:Home] 100% CNT20    ;
   6:  VISION RUN_FIND 'FINDPART'    ;
   7:  VISION GET_OFFSET 'FINDPART' VR[1] JMP LBL[99] ;
   8:  JOINT_MAX_SPEED[2]=50 ;
   9:  JOINT_MAX_SPEED[3]=50 ;
  10:  PR[5,3:Offsetz40]=(-40)    ;
  11:  PR[5,1:Offsetz40]=10    ;
  12:   ;
  13:L PR[3:REFPick2] 2000mm/sec CNT20 VOFFSET,VR[1] Tool_Offset,PR[5:Offsetz40]    ;
  14:  PR[5,3:Offsetz40]=0    ;
  15:L PR[3:REFPick2] 2000mm/sec FINE VOFFSET,VR[1] ACC100 Tool_Offset,PR[5:Offsetz40]    ;
  16:  WAIT    .10(sec) ;
  17:  CALL PICKPART    ;
  18:  WAIT    .10(sec) ;
  19:  PR[5,3:Offsetz40]=(-40)    ;
  20:   ;
  21:L PR[3:REFPick2] 2000mm/sec CNT20 Tool_Offset,PR[5:Offsetz40] VOFFSET,VR[1]    ;
  22:J PR[4:Place] 50% CNT20 Tool_Offset,PR[10:OffseZ200Tool]    ;
  23:L PR[4:Place] 2000mm/sec FINE Tool_Offset,PR[9:OffsetX40Tool]    ;
  24:J PR[4:Place] 50% CNT20 ACC50    ;
  25:  WAIT    .10(sec) ;
  26:  CALL DROPPART    ;
  27:  WAIT   1.00(sec) ;
  28:L PR[4:Place] 1500mm/sec CNT20 Tool_Offset,PR[10:OffseZ200Tool]    ;
  29:J PR[1:Home] 50% FINE    ;
  30:  LBL[99] ;

Hi,

Thats what ı did in this morning and it's working.But Is there any way to set a position relative to a point in IRvision Interface.Like screenshot above.

Hi,

I understand you, it's another solution.But how can ı set a distance in irvision Interfence.I'm trying to make it in tp program but it's not so accurate.I'm using "FOUND POSİTİON" method.

My program is :

Tool is going to center of sphere and offsets from there according to distance. (I used tool offset) but even that is not working so accurately.I set equal "FOUND POS (RZ)" value to tool offset PR's Angle value.But it didnt work. If I can output distance relative to center of sphere in Irvision Interface.Everything will be correct.I used "Position Adjustment tool" to give offset.But ı dont want to select by my hand.I need to set numbers.

My Screenshot:

image hosted at ImgBB

Image image hosted in ImgBB

ibb.co

 1:  PAYLOAD[1:ASIK_MILI_TOOL] ;
   2:  UTOOL_NUM=1 ;
   3:  UFRAME_NUM=1 ;
   4:  OVERRIDE=10% ;
   5:J PR[1:Home] 100% CNT20    ;
   6:  CALL VISION_POS    ;
   7:  JOINT_MAX_SPEED[2]=50 ;
   8:  JOINT_MAX_SPEED[3]=50 ;
   9:  PR[16,3:FoundposOFFSET]=PR[5,3:Offsetz40]    ;
  10:L PR[15:FOUNDPOS] 2000mm/sec CNT20 Tool_Offset,PR[16:FoundposOFFSET]    ;
  11:  PR[16,3:FoundposOFFSET]=0    ;
  12:L PR[15:FOUNDPOS] 2000mm/sec FINE Tool_Offset,PR[16:FoundposOFFSET]    ;
  13:  WAIT    .10(sec) ;
  14:  CALL PICKPART    ;
  15:  WAIT    .10(sec) ;
  16:  PR[16,3:FoundposOFFSET]=PR[5,3:Offsetz40]    ;
  17:L PR[15:FOUNDPOS] 2000mm/sec CNT20 Tool_Offset,PR[16:FoundposOFFSET]    ;
  18:J PR[4:Place] 50% CNT20 Tool_Offset,PR[10:OffseZ200Tool]    ;
  19:L PR[4:Place] 2000mm/sec FINE Tool_Offset,PR[9:OffsetX40Tool]    ;
  20:J PR[4:Place] 50% CNT20 ACC50    ;
  21:  WAIT    .10(sec) ;
  22:  CALL DROPPART    ;
  23:  WAIT   1.00(sec) ;
  24:L PR[4:Place] 1500mm/sec CNT20 Tool_Offset,PR[10:OffseZ200Tool]    ;
  25:J PR[1:Home] 50% FINE    ;
  26:  LBL[99] ;

----------------------------------------------------------------------

1:  VISION RUN_FIND 'FINDPART'    ;
   2:  VISION GET_OFFSET 'FINDPART' VR[1] JMP LBL[99] ;
   3:   ;
   4:  PR[14]=VR[1].FOUND_POS[1] ;
   5:  PR[15,1:FOUNDPOS]=PR[14,1:CONFPOS]    ;
   6:  PR[15,2:FOUNDPOS]=PR[14,2:CONFPOS]    ;
   7:  PR[15,3:FOUNDPOS]=PR[14,3:CONFPOS]    ;
   8:  PR[15,4:FOUNDPOS]=(-180)    ;
   9:  PR[15,5:FOUNDPOS]=0    ;
  10:  PR[15,6:FOUNDPOS]=PR[14,6:CONFPOS]    ;
  11:   ;
  12:  R[1]=VR[1].MES[1] ;
  13:  R[2]=VR[1].MES[2] ;
  14:  R[3]=VR[1].MES[3] ;
  15:  R[4:OFFSET]=R[1:PIXEL TO MM ROV]-R[3:FOUND POS ROV]    ;
  16:   ;
  17:  PR[16,2:FoundposOFFSET]=R[4:OFFSET]    ;
  18:  PR[16,6:FoundposOFFSET]=PR[14,6:CONFPOS]    ;

Hi Fabian,

İt will be batches of the same part.But as ı said we have 60 parts.Parts will be carrying on the conveyor.Process will change for every part.And each part have a specific distance from sphere (where robot needs to hold it).I will teach each part to camera and robot.We will write different recipe in PLC for each part.You can see screenshot below.There are different parts on the conveyor,ı put them there for teaching.But it will be a batch of same part as ı said.

Thanks for the interest.

Hi Everyone Fanuc Newbie here,

I followed tutorials and made a simulation about finding part and taking it in Roboguide.But in real life, length of these parts will be different for each.And ı supposed to take these parts from a specific coordinate.How may ı do this?

I need to find center of sphere and give distance from it , ı tried to make some calculations but couldnt find out how to output those values in to program.We will work with 60-70 parts and each of them have different lengths.And are we able to make programs for 60 part using with "" MODEL ID "?. If so, how can ı use it in the program.

I'm planing to use "FOUND POS" option.What are your advices.